version: 66.08
glider: 503
mission: 7
dive: 661
start: 1 10 111 4 15 1
data:
$ID,503
$MISSION,7
$DIVE,661
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,4
$T_DIVE,180
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.0099999998
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51780
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,-7700
$TGT_DEFAULT_LON,17100
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20351.916
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2780
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2960
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,134.3
$AH0_10V,102.9
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.009045
$PRESSURE_SLOPE,0.00011732637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,100111,040814,-7642.166,17627.363,9,1.7,9,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.0
$GPS2,100111,041430,-7642.177,17627.430,41,1.0,41,123.9
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,223.1,79102,-18.2,-13.333
$D_GRID,461
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-90.07,0.000,2,0.000,0.000,164,2774,3461,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.4,-7.1,15,139,8.90,2.30,-8.02,0.000,4,0.206,0.044,2520,1370,3856,0,0,0,0,0,0
$GC,341,-0.84,-219.0,49.1,-16.5,55,348,0.00,2.30,0.00,0.000,6,0.000,0.043,2510,2782,3859,0,0,0,0,0,0
$GC,484,-0.84,-219.0,74.7,-17.9,80,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2782,3859,0,0,0,0,0,0
$GC,631,-0.84,-219.0,101.8,-18.3,105,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2782,3859,0,0,0,0,0,0
$GC,759,-0.84,-219.0,125.7,-18.6,117,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2782,3860,0,0,0,0,0,0
$GC,886,-0.84,-219.0,149.7,-18.8,129,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2782,3860,0,0,0,0,0,0
$GC,1013,-0.84,-219.0,173.7,-19.0,141,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2782,3860,0,0,0,0,0,0
$GC,1141,-0.84,-219.0,198.2,-18.9,153,1144,0.00,1.58,0.00,0.000,4,0.000,0.050,2502,3755,3860,0,0,0,0,0,0
$GC,1180,-0.84,-219.0,206.1,-20.1,156,1187,0.00,1.52,0.00,0.000,6,0.000,0.031,2502,2782,3860,0,0,0,0,0,0
$GC,1314,-0.84,-219.0,231.6,-18.7,169,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3860,0,0,0,0,0,0
$GC,1441,-0.84,-219.0,255.9,-19.4,181,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3860,0,0,0,0,0,0
$GC,1633,-0.84,-219.0,291.8,-18.6,199,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3860,0,0,0,0,0,0
$STATE,1758,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1758,begin apogee
$GC,1764,-0.16,0.0,314.9,18.4,211,1945,0.73,0.00,174.43,0.936,4,0.122,0.000,2741,2681,2960,0,0,0,0,0,0
$STATE,1945,end apogee,CONTROL_FINISHED_OK
$STATE,1946,begin climb
$GC,1948,0.84,219.0,324.5,0.0,227,2154,1.00,2.35,191.25,0.884,4,0.075,0.031,3072,1308,2066,0,0,0,0,0,0
$GC,2358,0.90,271.9,291.2,11.2,263,2415,0.00,2.38,48.20,0.859,6,0.000,0.040,3072,2708,1850,0,0,0,0,0,0
$GC,2606,0.93,289.9,260.3,12.6,286,2630,0.00,2.35,17.15,0.829,4,0.000,0.032,3084,1306,1778,0,0,0,0,0,0
$GC,2767,0.95,312.2,240.3,12.4,300,2793,0.00,2.33,21.45,0.836,6,0.000,0.041,3083,2710,1687,0,0,0,0,0,0
$GC,2925,0.96,315.8,219.6,13.2,314,2938,0.00,1.75,5.05,0.666,4,0.000,0.050,3083,3769,1671,0,0,0,0,0,0
$GC,2966,0.96,315.8,213.1,15.1,317,2973,0.00,1.67,0.00,0.000,6,0.000,0.030,3092,2721,1672,0,0,1,0,0,0
$GC,3101,0.96,315.8,194.2,14.3,330,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2720,1671,0,0,0,0,0,0
$GC,3230,0.96,315.8,176.2,13.9,342,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2720,1670,0,0,0,0,0,0
$GC,3355,0.96,315.8,158.1,14.4,354,3359,0.00,1.67,0.00,0.000,4,0.000,0.049,3092,3763,1670,0,0,0,0,0,0
$GC,3389,0.96,315.8,152.9,15.6,357,3393,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2700,1670,0,0,1,0,0,0
$GC,3529,0.96,315.8,132.9,14.0,370,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2701,1670,0,0,0,0,0,0
$GC,3657,0.96,315.8,114.6,13.6,382,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2700,1670,0,0,0,0,0,0
$GC,3785,0.96,315.8,96.5,14.0,396,3792,0.00,1.75,0.00,0.000,4,0.000,0.050,3099,3765,1669,0,0,1,0,0,0
$GC,3821,0.96,315.8,90.9,16.2,402,3829,0.00,1.65,0.00,0.000,6,0.000,0.030,3107,2721,1670,0,0,0,0,0,0
$GC,3966,0.96,315.8,69.2,14.9,427,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2721,1669,0,0,0,0,0,0
$GC,4106,0.96,315.8,48.0,15.0,452,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2721,1669,0,0,0,0,0,0
$GC,4247,0.96,315.8,27.2,14.9,477,4254,0.00,1.70,0.00,0.000,4,0.000,0.050,3107,3756,1669,0,0,0,0,0,0
$GC,4277,0.96,315.8,22.3,16.0,482,4285,0.00,1.60,0.00,0.000,6,0.000,0.031,3114,2730,1669,0,0,1,0,0,0
$FREEZE,8.22,-0.083,-1.898,2,1,0
$FREEZE,7.41,-0.099,-1.897,2,1,0
$FREEZE,6.52,-0.118,-1.897,2,1,0
$FREEZE,5.51,-0.073,-1.895,2,1,0
$FREEZE,4.68,-0.087,-1.895,2,1,0
$FREEZE,3.41,-0.070,-1.894,2,1,0
$FREEZE,2.56,-0.068,-1.893,2,1,0
$STATE,4401,end climb,SURFACE_DEPTH_REACHED
$STATE,4401,begin surface coast
$FREEZE,1.63,-0.066,-1.892,2,1,0
$FREEZE,0.80,-0.066,-1.892,2,1,0
$FREEZE,0.02,-0.063,-1.891,2,1,0
$FINISH,0.0,1.027670
$STATE,4420,end surface coast,CONTROL_FINISHED_OK
$STATE,4420,begin surface
$SM_CCo,4437,1.05,0.113,0,0,1655,320.11
$SM_GC,1.71,0.00,0.00,1.05,0.000,0.000,0.113,176,2815,1655,-8.20,0.99,320.11
$IRIDIUM_FIX,-7554.21,17644.04,100111,020227
$TT8_MAMPS,0.027713
$HUMID,53.74
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,301.5,27.1
$24V_AH,22.1,67.812
$10V_AH,9.9,26.294
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.250,30.725,457.525,1.050,0.000,29.873,38.131,151.096,1.250,0.000,43.841,1223.971,1757.327,495.969,1151.813,200.427,0.000,1037.790,0.000,857.280,0.000,11.734,0.000
$DEVICE_MAMPS,205.785,87.210,935.595,113.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.598,683.741,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258292
$DATA_FILE_SIZE,33826,507
$CAP_FILE_SIZE,68553,0
$CFSIZE,260165632,222167040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.093,220.5,1
$GPS,100111,052950,-7641.672,17626.457,8,1.1,8,123.9